ResearchBenchmarksDexterous Manipulation on ThrowDexterous Manipulation on ThrowFollow22.51Average PerformanceSAPG15.417217.258619.120.9414Mar 2, 2026Evaluation resultsMethodMethodLinksAverage PerformanceSAPGEnvironment steps=2 ×...Environment steps=2 × 10^102026.0322.51CPOEnvironment steps=2 ×...Environment steps=2 × 10^102026.0321.69PBTEnvironment steps=2 ×...Environment steps=2 × 10^102026.0319.08PPOEnvironment steps=2 ×...Environment steps=2 × 10^102026.0315.69